ICAROS: over‐all‐calibration of industrial robots

摘要

Outlines the development of a robot measurement system, ICAROS, which combines the advantages of photogrammetrical and inertial measurement procedures, allowing the acquisition of measuring values for the determination of all [dynamic and static] industrial robot performance parameters, according to ISO 9283. Describes the photogrammetrical component and inertial system component of the pose measuring system and the integration of the two parts and looks at the over‐all‐calibration procedure in Off‐line and on‐line phase. Concludes that the system allows the pose measurement and calibration of robots, the scanning of robot programs and the transmission of these programs to other robot systems.